From 839505d42cdf78a856ed27ad344859279c13f631 Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Fri, 25 Nov 2022 13:26:47 +0100 Subject: [PATCH] ... --- src/mtc/README.md | 44 +++++++++++++++++++++++--------------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/src/mtc/README.md b/src/mtc/README.md index 8e6a611..6a4ef04 100644 --- a/src/mtc/README.md +++ b/src/mtc/README.md @@ -12,32 +12,34 @@ roslaunch mtc mtc2taskspace.launch resource='dummy.yaml' ### base_routine -Calculates the workspace from a descriptions file (/descriptions/{description}) and a precomputed reachability map (/map/{map}), combined with information of a resource file (/resources/{resource}). Creates the directory (results/{resource}/ros::time.yaml}) with the resulting files as contents. -> Replace already existing result folder if exists. ->> Resulting files can break the yaml schema, because each robot has an extra rpy element which is important for setting robot pose in franca_description. Also each 8th entry must be a table[0-9]+_table_top id. Cosmetic data (table_wheel...) included as placeholder - +Calculates the workspace from a descriptions file (/descriptions/{description}) and a precomputed reachability map (/map/{map}), combined with information of a resource file (/resources/{resource}). Creates the directory (results/{resource}/ros::time.yaml}) with the resulting files as contents. <br/> mtc/src/base_routine.cpp (/map/{map}, /resources/{resource}, /descriptions/{descriptions}) -> (/results/{resource}/ros::time.yaml) <br/> roslaunch mtc base_routine.launch resource='dummy.yaml' map='dummy.yaml' description='dummy.yaml' +> Replace already existing result folder if exists. +>> Resulting files can break the yaml schema, because each robot has an extra rpy element which is important for setting robot pose in franca_description. Also each 8th entry must be a table[0-9]+_table_top id. Cosmetic data (table_wheel...) included as placeholder ### cell_routine -Designed to load a resource file (+ with additional rpy component in the right order) and execute a task with moveit task constructor. A task description can also be the /descriptions/{description} in the example. -> Christoph's parser could not be integrated because there is no way to have multiple robots compute a task. +Designed to load a resource file (+ with additional rpy component in the right order) and execute a task with moveit task constructor. A task description can also be the /descriptions/{description} in the example. <br/> mtc/src/cell_routine.cpp (/results/{result}, /descriptions/{task}) -> () <br/> -roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy.yaml' (is coop) -roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy2.yaml' (is parallel) +roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy.yaml' (is coop) <br/> +roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy2.yaml' (is parallel) +> Christoph's parser could not be integrated because there is no way to have multiple robots compute a task. + ## Current state -State: in progress. Every executable is working with some explained downfalls that should be fixed in the next days. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results (62 files for dummy.yaml) can be loaded and run. I tested 10/62 myself, with surprisingly good results. The following list shows open and closed ToDos. - -:ballot_box_with_check: present a faster work-space execution -:ballot_box_with_check: generate more solutions for 1 dump file -:ballot_box_with_check: present solution for general robots -:ballot_box_with_check: elaborate the moveit task constructor -:ballot_box_with_check: present more general task files -:black_square_button: include cosmetic values -:ballot_box_with_check: passing yaml in xacro (franca_description) -:ballot_box_with_check: parallel tasks (Docker already downloaded, just have to try) (main focus) (with some problems of course) -:black_square_button: include ferdinants work (main focus) - -Im working non stop, so don't forget to pull. +State: in progress. Every executable is working with some explained downfalls that should be fixed in the next days. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results (62 files for dummy.yaml) can be loaded and run. I tested 10/62 myself, with surprisingly good results. The following list shows open and closed ToDos.<br/> + +:ballot_box_with_check: present a faster work-space execution <br/> +:ballot_box_with_check: generate more solutions for 1 dump file <br/> +:ballot_box_with_check: present solution for general robots <br/> +:ballot_box_with_check: elaborate the moveit task constructor <br/> +:ballot_box_with_check: present more general task files <br/> +:black_square_button: include cosmetic values <br/> +:ballot_box_with_check: passing yaml in xacro (franca_description) <br/> +:ballot_box_with_check: parallel tasks (Docker already downloaded, just have to try) (main focus) <br/> +:black_square_button: fix acm <br/> +:black_square_button: include ferdinants work (main focus)<br/> + +Im working non stop, so don't forget to pull. <br/> +[Git Docker](https://github.com/cambel/moveit_simultaneous_motions_demo.git "github link for parallel docker") -- GitLab